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<p class="heading"><span class="smallhead">Professional</span><br />&nbsp;&nbsp;&nbsp;Microsoft Robotics Developer Studio<br />
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<h1>Chapter 15 - Using a Robotic Arm</h1>

<h2>Summary</h2>
<p>
Robotic arms require quite a different approach compared to wheeled
mobile robots. This chapter explains how to control a Lynxmotion
L6 Robotic Arm.
</p>
<p>
The corresponding simulation service for the Lynx 6 Arm is available
in <a href="../Chapter8/Readme.htm">Chapter 8</a>. There are VPL
programs in <a href="../Chapter12/Readme.htm">Chapter 12</a> for both
the real and simulated arms that allow you to use an Xbox controller
to move the arm.
</p>

<h2>Contents</h2>
<p>This Chapter contains the following applications:</p>
<ul>
<li>Lynx 6 Arm Service (for a real arm)</li>
<li>Motion Recorder</li>
</ul>
<p>
Replacement services for the <a href="Lynx6Arm.htm">Lynx 6 Arm</a> and <a href="SSC32.htm">SSC-32 Controller</a> are also included with this
chapter. The Lynx 6 Arm service does not have a GUI.
You can test it using
the Dashboard by running RunLynx6Arm.cmd. However, it is better to use the
Motion Recorder because it has a much more useful interface than the Dashboard.
</p>
<p>
The Motion Recorder
works with either the simulated arm or the real arm. However, when
used with the simulated arm it imposes limits on the motion of the
arm to match the real arm and therefore cannot operate over the
entire range of the simulation. Also, there are a couple of subtle
differences. In particular, the simulated gripper has some trouble
if you squeeze an object too hard and you might lose control of
the object.
</p>
<p>The following is a screen shot of the Motion Recorder GUI.
Click on the screen shot for a larger version.
</p>
<p>
<a href="images/MotionRecorder.jpg"><img src="images/MotionRecorder_small.jpg" border="0" alt="Motion Recorder - click for larger image" /></a>
</p>

<h2>Legal Stuff</h2>
<p>
This code is available free of charge for non-commercial use.
Please see the licence agreement.
</p>
<p>
The Lynxmotion services were modified with the permission
of <a href="http://www.lynxmotion.com">Lynxmotion</a>. To
avoid conflicts, the services in this chapter have new
contract identifiers and namespaces.
</p>

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